CN109359632A - Highway sideline detection method and device - Google Patents
Highway sideline detection method and device Download PDFInfo
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- CN109359632A CN109359632A CN201811460088.XA CN201811460088A CN109359632A CN 109359632 A CN109359632 A CN 109359632A CN 201811460088 A CN201811460088 A CN 201811460088A CN 109359632 A CN109359632 A CN 109359632A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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Abstract
The present invention provides a kind of highway sideline detection method and device, are related to technical field of image processing.Highway sideline detection method is applied to the user terminal communicated to connect with camera, and camera is fixedly installed in vehicle body edge, this method comprises: obtaining the image of the road comprising vehicle body edge of camera shooting；Convert the image into gray level image；It is binary image by greyscale image transitions；Highway sideline is identified in binary image；Position based on highway sideline in binary image obtains vehicle body edge at a distance from highway sideline.Highway sideline detection method and device provided by the invention can effectively reduce the cost of highway sideline detection, and the accuracy detected is high, can be widely applied to vehicle driver examination system and driving analog system.
Description
Technical field
The present invention relates to technical field of image processing, in particular to a kind of highway sideline detection method and device.
Background technique
Currently, in road test in driving test, the detection of highway sideline is come frequently with the mode that differential GPS positions real
It is existing.
However, needing base station and in advance acquisition sideline coordinate drafting virtual graph in this manner, and then lead to cost
Cost is excessively high.And detection accuracy is influenced by the accuracy of GPS location precision and the virtual graph of drafting, leads to the detection of highway sideline
It is easy that there are biggish errors.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of highway sideline detection method and device.
In a first aspect, being applied to communicate to connect with camera the embodiment of the invention provides a kind of highway sideline detection method
User terminal, the camera is fixedly installed in vehicle body edge, which comprises
Obtain the image of the road comprising vehicle body edge of the camera shooting；
Described image is converted into gray level image；
It is binary image by the greyscale image transitions；
Highway sideline is identified in the binary image；
Position based on the highway sideline in the binary image obtains vehicle body edge and the highway sideline
Distance.
Optionally, the method also includes:
The gray level image is filtered；
It is described by the greyscale image transitions be binary image, comprising:
It is binary image by the greyscale image transitions after filtering processing.
Optionally, it is described by the greyscale image transitions be binary image, comprising:
Gray level image is subjected to edge detection；
Gray threshold is determined based on the result of the edge detection；
Binary conversion treatment is carried out to the gray level image according to the gray threshold, obtains the binary image.
It is optionally, described to identify highway sideline in the binary image, comprising:
Using least square method fitting a straight line；
Two straight lines for meeting highway sideline feature are filtered out, the highway sideline is obtained.
Optionally, the position based on the highway sideline in the binary image, obtains vehicle body edge and institute
State the distance of highway sideline, comprising:
The pixel position corresponding in the binary image according to the highway sideline and the picture calibrated in advance
The calculation formula of vegetarian refreshments and respective distances obtains vehicle body edge at a distance from the highway sideline.
Second aspect is applied to communicate to connect with camera the embodiment of the invention provides a kind of road side line detection device
User terminal, the camera is fixedly installed in vehicle body edge, and the road side line detection device includes:
Module is obtained, the image of the road comprising vehicle body edge for obtaining the camera shooting；
Gradation conversion module, for described image to be converted to gray level image；
Binarization block, for being binary image by the greyscale image transitions；
Identification module, for identifying highway sideline in the binary image；
Computing module, for the position based on the highway sideline in the binary image, obtain vehicle body edge with
The distance of the highway sideline.
Optionally, road side line detection device further include:
Filter module, for being filtered to the gray level image；
The greyscale image transitions after the binarization block is used to be filtered are binary image.
Optionally, the binarization block includes:
Edge detection submodule, for gray level image to be carried out edge detection；
Submodule is determined, for determining gray threshold based on the result of the edge detection；
Binaryzation submodule obtains institute for carrying out binary conversion treatment to the gray level image according to the gray threshold
State binary image.
Optionally, the identification module includes:
It is fitted submodule, for using least square method fitting a straight line；
It screens submodule and obtains the highway sideline for filtering out two straight lines for meeting highway sideline feature.
Optionally, the computing module is used for the pixel corresponding in the binary image according to the highway sideline
The calculation formula of point position and the preparatory pixel calibrated and respective distances, obtain vehicle body edge and the highway sideline away from
From.
For the prior art, highway sideline detection method and device provided by the invention have it is following the utility model has the advantages that
Highway sideline detection method and device provided by the invention can effectively reduce the cost of highway sideline detection, and examine
The accuracy of survey is high, can be widely applied to vehicle driver examination system and driving analog system.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the application environment schematic diagram that present pre-ferred embodiments provide.
Fig. 2 is the user terminal box schematic diagram that present pre-ferred embodiments provide.
Fig. 3 is the flow chart for the highway sideline detection method that present pre-ferred embodiments provide.
Fig. 4 is the functional block diagram for the road side line detection device that present pre-ferred embodiments provide.
Fig. 5 is the binarization block the functional block diagram that present pre-ferred embodiments provide.
Fig. 6 is the identification module the functional block diagram that present pre-ferred embodiments provide.
Icon: 100- user terminal；110- road side line detection device；111- obtains module；112- gradation conversion module；
113- binarization block；1131- edge detection submodule；1132- determines submodule；1133- binaryzation submodule；114- identification
Module；1141- is fitted submodule；1142- screens submodule；115- computing module；116- filter module；120- memory；
130- storage control；140- processor；150- Peripheral Interface；160- input-output unit；170- display unit；200- phase
Machine.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
As shown in Figure 1, being the application environment schematic diagram that present pre-ferred embodiments provide.User terminal 100 and camera 200
It is communicated to connect by wired or wireless mode, to carry out data communication or interaction.The user terminal 100 can be vehicle-mounted end
End, tablet computer, smart phone, personal digital assistant (personal digital assistant, PDA) etc..
As shown in Fig. 2, be a kind of block diagram of user terminal 100, the user terminal 100 include including
Road side line detection device 110, memory 120, storage control 130, processor 140, Peripheral Interface 150, input and output list
First 160, display unit 170.
The memory 120, processor 140, Peripheral Interface 150, input-output unit 160, is shown storage control 130
Show that each element of unit 170 is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, these
Element can be realized by one or more communication bus or signal wire be electrically connected between each other.The road side line detection device
110 include that at least one can be stored in the memory 120 or be solidificated in institute in the form of software or firmware (firmware)
State the software function module in the operating system (operating system, OS) of user terminal 100.The processor 140 is used
The executable module stored in execution memory 120, such as the software function mould that the road side line detection device 110 includes
Block or computer program.
Wherein, memory 120 may be, but not limited to, random access memory (RandomAccess Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable ProgrammableRead-Only Memory, EEPROM) etc..
Wherein, memory 120 is for storing program, and the processor 140 executes described program after receiving and executing instruction, aforementioned
Method performed by the user terminal 100 that the stream process that any embodiment of the embodiment of the present invention discloses defines can be applied to handle
In device 140, or realized by processor 140.
Processor 140 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 140 can
To be general processor, including central processing unit (CentralProcessing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
It can be microprocessor or the processor be also possible to any conventional processor etc..
Various input/output devices are couple processor 140 and memory 120 by the Peripheral Interface 150.Some
In embodiment, Peripheral Interface 150, processor 140 and storage control 130 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 160 is used to be supplied to the interaction that user input data realizes user and the user terminal 100.
The input-output unit 160 may be, but not limited to, mouse and keyboard etc..
Display unit 170 provides an interactive interface (such as user's operation circle between the user terminal 100 and user
Face) or for display image data give user reference.In the present embodiment, the display unit 170 can be liquid crystal display
Or touch control display.It can be the capacitance type touch control screen or resistance of support single-point and multi-point touch operation if touch control display
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or at multiple positions simultaneously generate touch control operation, and the touch control operation that this is sensed transfer to processor 140 carry out calculate and
Processing.
Referring to Fig. 3, being present pre-ferred embodiments offer applied to road side line detection device 110 shown in Fig. 2
Highway sideline detection method flow chart, the method for highway sideline detect, especially vehicle driver take an examination
Highway sideline detection in system and driving analog system.Detailed process shown in Fig. 3 will be described in detail below.
Step S101 obtains the image of the road comprising vehicle body edge of camera shooting.
The camera 200 is fixedly installed in vehicle body edge, and the visual field direction of camera 200 is used towards the road at vehicle body edge
It include the road at vehicle body edge in the image in shooting image in highway sideline detection process.Preferably, the embodiment of the present invention
In, the camera 200 is fixedly installed in the position below auto mirror.
Camera 200 is communicated by wired or wireless mode with user terminal 100 and is connect, and camera 200 takes comprising vehicle body
After the image of the road at edge, which is sent to the user terminal 100, the user terminal 100 obtains camera 200 and claps
The image for the road comprising vehicle body edge taken the photograph.
Step S102, converts the image into gray level image.
The time is calculated to reduce, after the image for obtaining the road comprising vehicle body edge that camera 200 is shot, user terminal
100 convert the image to gray level image.
Step S103, is filtered gray level image.
After image is converted to gray level image, user terminal 100 is filtered the gray level image, removes gray level image
In noise and interference.
It should be understood that can not also execute and this mistake is filtered to gray level image in its other some embodiment
Journey.
Greyscale image transitions after filtering processing are binary image by step S104.
After being filtered to gray level image, the greyscale image transitions after filtering processing are two-value by user terminal 100
Change image.
Specifically, user terminal 100 carries out edge detection to the gray level image after the filtering processing first.Since road is white
The edge pixel tonal gradation in color or yellow sideline has larger difference, therefore can be detected.
The edge detection can be the edge detection operator based on first derivative, by the gradient value for calculating image
The edge for carrying out detection image, such as difference edge detection, Roberts operator, Sobel operator, Prewitt operator.Either with two
Edge detection operator based on order derivative detects edge by seeking the zero crossing in second dervative, as Laplacian is calculated
Son, LOG operator, Canny operator.
After edge detection, user terminal determines a gray threshold for binaryzation according to edge detection results.The ash
Degree threshold value can be the average value of pixel, is also possible to the threshold value sought by one-dimensional Means method, can also be and pass through histogram
The threshold value that drawing method determines is not specifically limited in the embodiment of the present invention.
After determining the gray threshold, gray value is greater than the pixel of the threshold value according to the gray threshold by user terminal 100
Point is arranged white (gray value 255), gray value it is small with or be set as black (gray value 0) equal to the pixel of the threshold value,
To obtain binary image.
Step S105, identifies highway sideline in binary image.
After obtaining binary image, user terminal 100 finds all straight lines by hough transformation, using least square method
Then fitting a straight line filters out two straight lines for meeting highway sideline feature, this two straight lines for meeting highway sideline feature are flat
Row, and width between the two meets the standard in conventional road sideline.Region between two straight lines filtered out is road
Sideline.
Step S106, the position based on highway sideline in binary image, obtain vehicle body edge and highway sideline away from
From.
After obtaining highway sideline, the pixel point corresponding in binary image according to highway sideline of user terminal 100
The calculation formula of pixel and respective distances set and calibrated in advance, obtains vehicle body edge at a distance from highway sideline.
In the embodiment of the present invention, before carrying out highway sideline detection, in advance calibration as vegetarian refreshments position with it is corresponding away from
Calculation formula from (vehicle body edge is at a distance from highway sideline).The calibration of the calculation formula can be such: carry out school
It on time, is chequered with black and white multiple square lattices by even partition on vehicle body edge placement checked fabric, checked fabric, grid
Side length is known fixed, and camera 200, which is fixedly installed in vehicle body edge and shoots vehicle body edge, places checked fabric, according to checked fabric
The size of position and square lattice of the upper square lattice in shooting image, can be obtained pixel and respective distances
Calculation formula.
In conclusion highway sideline detection method provided in an embodiment of the present invention, by the way that vehicle body edge will be fixedly installed in
Camera 200 captured by the image of the road comprising vehicle body edge be converted to gray level image, and be two by greyscale image transitions
Then value image identifies the highway sideline in binary image, and according to highway sideline in the binary image
Position and the in advance calculation formula of pixel calibrate and respective distances, obtain vehicle body edge and the highway sideline away from
From.In this way, can accurately detect that vehicle body edge at a distance from highway sideline, effectively reduces highway sideline by simply improving
The cost of detection.Highway sideline detection method provided in an embodiment of the present invention can be widely applied to vehicle driver examination system
And driving analog system.
Referring to Fig. 4, being the function for the road side line detection device shown in Fig. 2 110 that present pre-ferred embodiments provide
Module diagram.The road side line detection device 110 includes obtaining module 111, gradation conversion module 112, binarization block
113, identification module 114, computing module 115 and filter module 116.
The image for obtaining module 111 and being used to obtain the road comprising vehicle body edge that the camera 200 is shot.
It should be understood that the acquisition module 111 can be used for executing above-mentioned step S101.
The gradation conversion module 112 is used to described image being converted to gray level image.
It should be understood that the gradation conversion module 112 can be used for executing above-mentioned step S102.
The filter module 116 is for being filtered the gray level image.
It should be understood that the filter module 116 can be used for executing above-mentioned step S103.
The greyscale image transitions after the binarization block 113 is used to be filtered are binary image.
Referring to Fig. 5, the binarization block 113 includes edge detection submodule 1131, determines submodule 1132 and two
Value submodule 1133.
The edge detection sub-module 1131 is used to gray level image carrying out edge detection.
The determining submodule 1132 is used to determine gray threshold based on the result of the edge detection.
The binaryzation submodule 1133 is used to carry out binary conversion treatment to the gray level image according to the gray threshold,
Obtain the binary image.
It should be understood that the binarization block 113 can be used for executing above-mentioned step S104.
Identification module 114 is for identifying highway sideline in the binary image.
Referring to Fig. 6, the identification module 114 includes fitting submodule 1141 and screening submodule 1142.
The fitting submodule 1141 is used to use least square method fitting a straight line.
The screening submodule 1142 obtains the road roadside for filtering out two straight lines for meeting highway sideline feature
Line.
It should be understood that the identification module 114 can be used for executing above-mentioned step S105.
The computing module 115 obtains vehicle body for the position based on the highway sideline in the binary image
Edge is at a distance from the highway sideline.
It should be understood that the computing module 115 can be used for executing above-mentioned step S106.
In conclusion road side line detection device 110 provided in an embodiment of the present invention, can will be fixedly installed in vehicle body edge
Camera 200 captured by the image of the road comprising vehicle body edge be converted to gray level image, and be two by greyscale image transitions
Then value image identifies the highway sideline in binary image, and according to highway sideline in the binary image
Position and the in advance calculation formula of pixel calibrate and respective distances, obtain vehicle body edge and the highway sideline away from
From.In this way, can accurately detect that vehicle body edge at a distance from highway sideline, effectively reduces highway sideline by simply improving
The cost of detection.Road side line detection device 110 provided in an embodiment of the present invention can be widely applied to vehicle driver examination
System and driving analog system.
Further, the embodiment of the invention also provides a kind of nonvolatile computer storage media, the computer is deposited
Storage media is stored with computer executable instructions, which can be performed the road in above-mentioned any means embodiment
Roadside line detecting method.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of highway sideline detection method, applied to the user terminal communicated to connect with camera, the camera is fixedly installed in
Vehicle body edge characterized by comprising
Obtain the image of the road comprising vehicle body edge of the camera shooting；
Described image is converted into gray level image；
It is binary image by the greyscale image transitions；
Highway sideline is identified in the binary image；
Position based on the highway sideline in the binary image, obtain vehicle body edge and the highway sideline away from
From.
2. highway sideline detection method according to claim 1, which is characterized in that the method also includes:
The gray level image is filtered；
It is described by the greyscale image transitions be binary image, comprising:
It is binary image by the greyscale image transitions after filtering processing.
3. highway sideline detection method according to claim 1, which is characterized in that described to be by the greyscale image transitions
Binary image, comprising:
Gray level image is subjected to edge detection；
Gray threshold is determined based on the result of the edge detection；
Binary conversion treatment is carried out to the gray level image according to the gray threshold, obtains the binary image.
4. highway sideline detection method according to claim 1, which is characterized in that described to know in the binary image
It Chu highway sideline, comprising:
Using least square method fitting a straight line；
Two straight lines for meeting highway sideline feature are filtered out, the highway sideline is obtained.
5. highway sideline detection method according to claim 1, which is characterized in that described to be based on the highway sideline in institute
The position in binary image is stated, obtains vehicle body edge at a distance from the highway sideline, comprising:
The pixel position corresponding in the binary image according to the highway sideline and the pixel calibrated in advance
With the calculation formula of respective distances, vehicle body edge is obtained at a distance from the highway sideline.
6. a kind of road side line detection device, applied to the user terminal communicated to connect with camera, the camera is fixedly installed in
Vehicle body edge, which is characterized in that the road side line detection device includes:
Module is obtained, the image of the road comprising vehicle body edge for obtaining the camera shooting；
Gradation conversion module, for described image to be converted to gray level image；
Binarization block, for being binary image by the greyscale image transitions；
Identification module, for identifying highway sideline in the binary image；
Computing module, for the position based on the highway sideline in the binary image, obtain vehicle body edge with it is described
The distance of highway sideline.
7. road side line detection device according to claim 6, which is characterized in that further include:
Filter module, for being filtered to the gray level image；
The greyscale image transitions after the binarization block is used to be filtered are binary image.
8. road side line detection device according to claim 6, which is characterized in that the binarization block includes:
Edge detection submodule, for gray level image to be carried out edge detection；
Submodule is determined, for determining gray threshold based on the result of the edge detection；
Binaryzation submodule obtains described two for carrying out binary conversion treatment to the gray level image according to the gray threshold
Value image.
9. road side line detection device according to claim 6, which is characterized in that the identification module includes:
It is fitted submodule, for using least square method fitting a straight line；
It screens submodule and obtains the highway sideline for filtering out two straight lines for meeting highway sideline feature.
10. road side line detection device according to claim 6, which is characterized in that the computing module is used for according to institute
The pixel and respective distances stating highway sideline pixel position corresponding in the binary image and having calibrated in advance
Calculation formula, obtain vehicle body edge at a distance from the highway sideline.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110299028A (en) * | 2019-07-31 | 2019-10-01 | 深圳市捷顺科技实业股份有限公司 | Method, apparatus, equipment and the readable storage medium storing program for executing of line detection are got in a kind of parking |
| CN112419371A (en) * | 2019-08-20 | 2021-02-26 | 中移物联网有限公司 | Letter detection method and system |
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